A card with no mana cost can't be cast normally; you'll need a way to cast it for an alternative cost or without paying its mana cost, such as by suspending it.
Ancestral Vision
Due to a recent rules change to suspend, you are no longer required to cast the suspended card as the second triggered ability of suspend resolves. Instead, as the second triggered ability resolves, you may cast the card. Timing permissions based on the card's type are ignored. If you don't cast the card, it remains exiled with no time counters on it, and it's no longer suspended.
Suspend is a keyword that represents three abilities. The first is a static ability that allows you to exile the card from your hand with the specified number of time counters (the number before the dash) on it by paying its suspend cost (listed after the dash). The second is a triggered ability that removes a time counter from the suspended card at the beginning of each of your upkeeps. The third is a triggered ability that gives you the option to cast the card when the last time counter is removed.
Magic: The Gathering · ™ & © Wizards of the Coast · Illus. Mark Poole
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